CN109562909A - Method for operating elevator device - Google Patents
Method for operating elevator device Download PDFInfo
- Publication number
- CN109562909A CN109562909A CN201780049517.1A CN201780049517A CN109562909A CN 109562909 A CN109562909 A CN 109562909A CN 201780049517 A CN201780049517 A CN 201780049517A CN 109562909 A CN109562909 A CN 109562909A
- Authority
- CN
- China
- Prior art keywords
- elevator
- car cabin
- elevator car
- phase
- linear actuator
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/24—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration
- B66B1/28—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical
- B66B1/30—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical effective on driving gear, e.g. acting on power electronics, on inverter or rectifier controlled motor
- B66B1/308—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical effective on driving gear, e.g. acting on power electronics, on inverter or rectifier controlled motor with AC powered elevator drive
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
- B66B5/0006—Monitoring devices or performance analysers
- B66B5/0018—Devices monitoring the operating condition of the elevator system
- B66B5/0031—Devices monitoring the operating condition of the elevator system for safety reasons
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B11/00—Main component parts of lifts in, or associated with, buildings or other structures
- B66B11/04—Driving gear ; Details thereof, e.g. seals
- B66B11/0407—Driving gear ; Details thereof, e.g. seals actuated by an electrical linear motor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
- B66B5/02—Applications of checking, fault-correcting, or safety devices in elevators responsive to abnormal operating conditions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
- B66B5/02—Applications of checking, fault-correcting, or safety devices in elevators responsive to abnormal operating conditions
- B66B5/04—Applications of checking, fault-correcting, or safety devices in elevators responsive to abnormal operating conditions for detecting excessive speed
- B66B5/06—Applications of checking, fault-correcting, or safety devices in elevators responsive to abnormal operating conditions for detecting excessive speed electrical
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
- G01P3/42—Devices characterised by the use of electric or magnetic means
- G01P3/56—Devices characterised by the use of electric or magnetic means for comparing two speeds
- G01P3/565—Devices characterised by the use of electric or magnetic means for comparing two speeds by measuring or by comparing the phase of generated current or voltage
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/06—Linear motors
- H02P25/064—Linear motors of the synchronous type
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Civil Engineering (AREA)
- Mechanical Engineering (AREA)
- Structural Engineering (AREA)
- Power Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Types And Forms Of Lifts (AREA)
- Elevator Control (AREA)
Abstract
The present invention relates to a kind of methods for operating elevator device (1), the elevator device (1) includes, elevator car cabin (2), it is contained in a movable manner in elevator (7), Linear actuator (3), it is used to drive elevator car cabin (2), Linear actuator (3) includes, stator module (4), it is provided with multiple stators (K ... Q) and is applied to elevator (7) in a fixed manner, with the rotor (5) for being applied to elevator car cabin (2), stator module (4) includes multiple electromagnetic coil (u, v, w), wherein electromagnetic coil (u, v, it w) can be respectively by multiphase alternating electric current (IUVW) phase (IU、IV、IW) operate.This method comprises the following methods: providing multiphase alternating electric current (IUVW) be used to operate stator module (4) and thereby drive elevator car cabin (2), upward driving force is especially provided for elevator car cabin (2)；The deceleration value (b, B) of elevator device is monitored by the sensor (8) being fixedly mounted in elevator (7)；And if determine that deceleration value (b) is higher than predetermined threshold (b in monitoring stepLimiting value), then Linear actuator (3) is switched to safe working condition.
Description
Technical field
The present invention relates to a kind of for operating the method and elevator device of elevator device.
Background technique
In elevator design field, there is the Linear actuator of the substitute as cable drive.It is this linear
Driver includes the stator unit being permanently mounted in elevator and at least one turn being permanently mounted in elevator car cabin
Subelement.The present invention is suitable for including elevator car cabin and the elevator device for driving this Linear actuator of elevator car cabin.
When moving upward, elevator car cabin is only capable of being braked with acceleration of gravity.Due to setting neutral gear for driver, thus can be with
Realize that safety is slowed down as quickly as possible in limiting value.If there are also other downwardly directed brakings other than acceleration of gravity
Power acts in elevator car cabin, then therefore elevator car cabin can be braked so that size is more than the deceleration of acceleration of gravity.
The rolling resistance of deflector roll may generate this increased deceleration.
For the personnel in elevator car cabin, it means that lose ground face contact and therefore there is great caught cold
Danger.In order to make braking be comfortably, constantly to reduce the driving power of braking for passenger；This causes significantly lower than gravity
The deceleration of acceleration.
The failure of Linear actuator may lead to the interruption of upward driving force first, so that elevator car cabin is added due to gravity
Speed and braked；Secondly, short circuit may generate the driving force being acting downwardly in elevator car cabin suddenly.Therefore, elevator car cabin
Not only slowed down with acceleration of gravity, and passenger will necessarily be cast and first bump against on ceiling for head.Really, elevator car cabin
The deceleration of this danger can be determined by being attached to the acceleration transducer of elevator car cabin.However, identified deceleration
Angle value must very rapidly be transferred to the safety equipment that can initiate suitable safety measure.Wireless data transmission path is more next
More for carrying out signal transmission between the unit installed in elevator car cabin and well, so as to omit mobile cable.This
The mobile cable of kind is no longer available in the elevator device that each well has more than two carriages.However, existing wireless data passes
Defeated path (such as WLAN) can be therefore too slow to too unreliable by important several milliseconds of data transfer delay.
Summary of the invention
It is an object of the invention to reduce above-mentioned danger.This is by according to claim 1 for operating elevator system
The method of system and elevator device according to claim 4 are realized；Preferred embodiment and advantage are in dependent claims
Be described below in show, wherein described embodiment and advantage are equally applicable to method and apparatus.
A kind of method for operating elevator device is provided according to the present invention.The elevator device includes being removably received by
Elevator car cabin in elevator and the Linear actuator for driving elevator car cabin.Linear actuator includes passing through multiple stators
It is fixedly attached to the stator module of elevator and is attached to the rotor of elevator car cabin.Stator module includes multiple electromagnetic coils, often
A electromagnetic coil can be operated by a phase in multiphase alternating electric current.The elevator device especially includes that can share electricity
Multiple, the especially more than two elevator car cabins moved in stair shaft.This method comprises the following methods:
Setting multiphase alternating electric current is to operate stator module and thereby driving elevator car cabin, especially provide for elevator car cabin
Upward driving force,
The deceleration value of elevator device is monitored by the sensor being permanently mounted in elevator,
If determining that deceleration value is higher than predetermined threshold, is switched to safety operation for Linear actuator in monitoring step
State.
By using the sensor being permanently mounted in elevator, it is convenient to omit the wireless data transmission of deceleration value and
The data transmission carried out via mobile cable.Therefore, data transmission can also pass through conducting wire in the case where no mobile cable
It carries out, and is therefore very rapidly transferred to safety control device, which initiates suitable safety measure.
In order to be monitored, the change procedure at the phase angle of multiphase alternating electric current is preferably measured, and thus calculates phase
The deceleration at angle.Since phase directly generates decelerative force, can be directly determined by the deceleration at phase angle about elevator car
The conclusion of the deceleration in cabin.Phase angle can determine that this can be at inverter or in inverter by monitoring phase current
At connecting line between the coil of stator locally, be done directly into.It is also enabled with the physical access of responsible inverter
Enough quick wire signal chains realized from sensor to inverter, the inverter can be switched to safe behaviour in appropriate circumstances
Make state.
As the result of the elasticity in controlled system, (such as capacitor in linear electric machine and inductance, rotor are in elevator car
Spring type suspensions on cabin), phase angle accelerate only the regular hour delay after just cause the elevator car cabin deceleration (
For in the sense that negative sense acceleration)；By the delay of monitoring phase angle, thus the deceleration of several milliseconds of prediction elevator car cabins can be shifted to an earlier date
Degree, and therefore can obtain the quality time for initiating safety measure.
In order to monitor deceleration value, it is preferable to use current measurement instrument is as a sensor to measure the phase of multiphase alternating electric current
Position.
In addition to the aforementioned components, elevator device according to the present invention further includes being designed for monitoring subtracting for elevator device
The sensor of velocity amplitude is designed as if it is determined that deceleration value, which is higher than predetermined threshold, is then switched to safety operation for Linear actuator
The control unit of state.Elevator device according to the present invention is characterized in that sensor is permanently mounted in elevator.
Detailed description of the invention
The present invention is explained in greater detail with reference to the accompanying drawings；Wherein,
Fig. 1 schematically shows the construction of the elevator device according to the present invention with linear electric machine；
Fig. 2 is illustrated by corresponding vector and is handed over when being moved up with constant speed for operating the multiphase of linear electric machine
The change procedure of the phase of time-dependent current；
Fig. 3 shows the detailed view of one of polar plot；
Fig. 4 shows the related mathematical relationship of polar plot；
Fig. 5 illustrates multiphase alternating electricity when moving up and powering off in case of a fault without safety by corresponding vector
The phase change process of stream；
Fig. 6 shows the speed and deceleration of phase when moving up in case of a fault；
Fig. 7 illustrated by corresponding vector travel upwardly in case of a fault and safety power-off during multiphase alternating electric current
Phase change process.
Specific embodiment
Fig. 1 shows elevator device 1 according to the present invention.It includes elevator car cabin 2, and elevator car cabin 2 is to be vertically movable
Mode is contained in elevator 7.Driving is provided by linear electric machine 3, linear electric machine 3 includes being permanently mounted to determine in well
Sub-component 4 and the rotor 5 for being attached to elevator car cabin 2.Stator module 4 includes multiple stator K ... Q, these stators are along elevator 7
It arranges one by one and by associated inverter 9K…9QTo operate.These inverters are respectively to associated stator K ...
Q supply has at least three phase I in all casesU、IV、IWMultiphase alternating electric current IUVW；Each coil of stator A ... G
U, v, w are accurately subjected to the electric current I an of phase respectivelyU、IV、IW.For example, in 2016/102385 A1 of international patent application WO
In disclose by Linear actuator and drive further explaining for elevator car cabin, it is related with synchronous motor.
As shown in Fig. 2, the coil when elevator car cabin is moved up along direction of travel 6, in the influence area of rotor
Systematically it is subjected to a phase of multiphase alternating electric current.Correspondingly, inverter 9 respectively generates a series of sinusoidal phase current IU、IV、
IW, in the case where threephase stator, wherein 120 ° of phase offset of each sine phase current.Here, the coil u of the second stator L,
V, the activation for activating and then coil u, v, w of the first stator K of w.Rotor is driven forwards from there through coil u, v, w to generate
5 shifting magnetic field.
Each phase current I during advancing with constant speed is shown here in Fig. 2uK、IvK、…IwQChange procedure；Lower section shows
The polar plot of phase at corresponding time point out.
Fig. 3 exemplifies one in polar plot with bigger ratio, and for illustrate used term shown in Fig. 4 and
Mathematical relationship.Vector is directed toward the applicable corresponding direction in phase angle corresponding to stator.In 12 o'clock position, phase angle is 0 °.
At this moment, phase is along the direction at 120 ° of phase angle with phase angular speed" point "=ω variation.Phase angular speed be it is constant and
It is identified as " ω " (I) below.Phase angular acceleration a and phase angular deceleration b is correspondingly 0 (II).
During motor, especially synchronous motor operation, the speed sync of phase velocity and rotor 3.In view of stator
Length L (referring to Fig. 1), the speed V of rotor 3 is linearly dependant on phase angular velocity omega (III).Equally, the acceleration A of rotor
Or deceleration B is linearly dependant on phase angular acceleration a or phase angular deceleration b (IV), (V).
In the context of the present invention, deceleration b, B is always interpreted as the negative value of acceleration a, A, and is therefore to use
In the measure of braking.Deceleration B, b is bigger, and associated velocity amplitude ω, V brake stronger from the positive value along 0 direction.Deceleration
B is when elevator car cabin moves up epoch indicator to the correlation for the dangerous measure mentioned in introduction.Deceleration B it is bigger (
In positive direction), passenger is cast more fierce along car roof direction.Deceleration means that edge travels upwardly direction less than 0
Acceleration be greater than 0, this has and makes the increased effect of the contact pressure in passenger's feet, therefore not will lead to it and is cast carriage day
On card.
In Fig. 5, failure occurs in time t1.Polarity is unintentionally overturned；Phase IVm、IuMAnd IwLTherefore it inverts.At this moment
The reversion of the phase angular velocity omega at 180 ° of phase angle can be seen in polar plot.At the time point, phase angular deceleration b takes
It is apparently higher than threshold value bLimiting valueValue.The threshold value is for example at 0.9.This necessarily leads to the abrupt deceleration of elevator car cabin 2.This electricity
It is actually not directly to measure in elevator car cabin 2, but derived by monitoring phase angle that terraced car cabin, which is slowed down,.
The monitoring of phase angular velocity omega is executed under respective phase by current measurement instrument 8, and each current measurement instrument 8 has
Have and security control unit 10A、10GWired connection.For the sake of clarity, outer stator K, Q is shown merely in Fig. 5
Security control unit.Security control unit 10A…10GA unit can also be grouped into.Determining that phase angular deceleration is excessive
In the case of, security control unit 10 makes corresponding inverter be switched to the secure mode of operation for preventing big retarding degree.This connection
And it is wired, so that the signal chains from sensor to inverter are very fast.
Here, Fig. 5 shows in the case where no safety power-off phase from time t1Start how to carry out, to illustrate
It is dangerous.In the secure state, the coil w of the coil u and v and stator L of stator M are for example disconnected, so that phase is with constant I
=0 reaches static.This is shown in FIG. 7.
The redundancy overlay structure of Linear actuator is fundamentally advantageous.In this case, elevator car cabin is grasped at every kind
Make under state all simultaneously by multiple stator drivings.Here, the permanently mechanical coupling each other of redundancy stator.If in laundry
Or break down at its associated inverter, then this therefore will lead to the stator rotating electric field acceleration or deceleration.By
In the inertia of the quality of load (lift car), so pole wheel angle, which exists, changes (principle of synchronous motor).Due to pole wheel angle
Change, driving force (driving torque) also changes.Therefore, soft coupling is provided by redundant actuation system.If in soft coupling
The unacceptable acceleration of part drive system is detected in the region connect, then it is possible thereby to which it is individually disconnected.
If it is more than 90 ° that angle is taken turns in pole, therefore driver may overturn.This may cause the symbol of driving force (driving torque)
Number change.Here, related part drive section is also disconnected.
On the other hand, in the design of nonredundancy driving, the deceleration of elevator car cabin is limited to gravity under disconnection
Acceleration (except) additional components as caused by power loss (rolling friction, air drag of deflector roll etc.) are added, this will lead to
The personnel delivered are slowly lifted.By disconnecting Linear actuator, avoiding, which may cause, is fiercely thrown on ceiling
Other strong decelerative forces.
Appended drawing reference table
1 elevator device
2 elevator car cabins
3 Linear actuators
4 stator modules
5 rotors
6 direction of travel
7 elevators
8 current measurement instruments
9 inverters
10 security control units
K ... Q stator
U, each coil of v, w
L stator length
V spinner velocity
A rotor acceleration
B rotor deceleration
Phase angle
ω phase angular speed
A phase angular acceleration (positive in upward direction)
B phase angular deceleration (positive in a downwardly direction)
I size of current
IUVWMultiphase alternating electric current
IU、IV、IWThe phase of multiphase alternating electric current
Claims (4)
1. method of the one kind for operating elevator device (1),
The elevator device (1) includes:
Elevator car cabin (2) is movably received in elevator (7),
Linear actuator (3) is used to drive the elevator car cabin (2),
The Linear actuator (3) includes:
Stator module (4) is fixedly attached to the elevator (7) by multiple stators (K ... Q), and
Rotor (5) is attached to the elevator car cabin (2),
Wherein, the stator module (4) includes multiple electromagnetic coils (u, v, w), wherein each electromagnetic coil (u, v, w) energy
Enough by multiphase alternating electric current (IUVW) a phase (IU、IV、IW) operate,
The method includes following methods steps:
Multiphase alternating electric current (the I is providedUVW) for operating the stator module (4) and thereby the driving elevator car cabin
(2), upward driving force is especially provided for the elevator car cabin (2),
Monitored by the sensor (8) being permanently mounted in the elevator (7) elevator device deceleration value (b,
B),
If determining that the deceleration value (b) is higher than predetermined threshold (b in monitoring stepLimiting value), then by the Linear actuator
(3) it is switched to safe working condition.
2. the method according to preceding claims,
It is characterized in that,
In order to be monitored, the multiphase alternating electric current (I is measuredUVW) phase angleChange procedure, and thus calculate institute
State phase angleDeceleration (b).
3. the method according to one of preceding claims,
It is characterized in that,
In order to monitor the deceleration value, using current measurement instrument (8) as a sensor to measuring the multiphase alternating electric current
(IUVW) phase (IU、IV、IW)。
4. a kind of elevator device, comprising:
Elevator car cabin (2) is movably received in elevator (7), and
Linear actuator (3) is used to drive the elevator car cabin (2),
The Linear actuator (3) includes:
Stator module (4) is fixedly attached to the elevator (7) by multiple stators (K ... Q), and
Rotor (5) is attached to the elevator car cabin (2),
Wherein, the stator module (4) includes multiple electromagnetic coils (u, v, w), wherein each electromagnetic coil (u, v, w) energy
Enough by multiphase alternating electric current (IUVW) a phase (IU、IV、IW) operate,
The elevator device further include:
Sensor (8) is designed as monitoring the deceleration value (b) of the elevator device,
Control unit (10) is designed as if it is determined that deceleration value (b) is higher than predetermined threshold (bLimiting value), then by the linear drive
Dynamic device (3) are switched to safe working condition,
It is characterized in that,
The sensor for monitoring the deceleration value is designed as to be permanently mounted in the elevator (7).
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102016216369.8 | 2016-08-31 | ||
| DE102016216369.8A DE102016216369A1 (en) | 2016-08-31 | 2016-08-31 | Method for operating an elevator installation |
| PCT/EP2017/071339 WO2018041713A1 (en) | 2016-08-31 | 2017-08-24 | Method for operating a lift system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109562909A true CN109562909A (en) | 2019-04-02 |
| CN109562909B CN109562909B (en) | 2022-03-01 |
Family
ID=59686973
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201780049517.1A Active CN109562909B (en) | 2016-08-31 | 2017-08-24 | Method for operating an elevator system |
Country Status (5)
| Country | Link |
|---|---|
| US (1) | US20200385233A1 (en) |
| EP (1) | EP3507226A1 (en) |
| CN (1) | CN109562909B (en) |
| DE (1) | DE102016216369A1 (en) |
| WO (1) | WO2018041713A1 (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102019201376A1 (en) | 2019-02-04 | 2020-08-06 | Thyssenkrupp Ag | Elevator system |
| BE1028113B1 (en) | 2020-03-02 | 2021-09-27 | Thyssenkrupp Elevator Innovation And Operations Ag | Elevator system |
| CN115402896B (en) * | 2021-05-28 | 2023-07-14 | 广东博智林机器人有限公司 | Surface treatment equipment, control method and device, medium and electronic equipment |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6677724B1 (en) * | 1999-09-17 | 2004-01-13 | Kabushiki Kaisha Yaskawa Denki | Initial magnetic pole estimating device for AC synchronous motor |
| CN1714493A (en) * | 2002-11-18 | 2005-12-28 | 精工爱普生株式会社 | Magnetic structure and motor employing said magnetic structure, and driver comprising said motor |
| US8869945B2 (en) * | 2006-08-14 | 2014-10-28 | Kone Corporation | Supplemental elevator safety system |
| CN104363979A (en) * | 2013-11-14 | 2015-02-18 | 株式会社Tbk | Electromagnetic brake |
| DE102014017486A1 (en) * | 2014-11-27 | 2016-06-02 | Thyssenkrupp Ag | Elevator installation with a plurality of cars and a decentralized security system |
| CN105691233A (en) * | 2016-01-14 | 2016-06-22 | 曲阜师范大学 | Electromagnetic train |
| WO2016126805A1 (en) * | 2015-02-04 | 2016-08-11 | Otis Elevator Company | Position determining for ropeless elevator system |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0583807A (en) | 1991-09-19 | 1993-04-02 | Hitachi Ltd | Linear synchronous motor controller |
| DE102014226967A1 (en) | 2014-12-23 | 2016-06-23 | Thyssenkrupp Ag | A method for determining a stator current vector for starting a synchronous machine of a drive of a passenger conveyor |
-
2016
- 2016-08-31 DE DE102016216369.8A patent/DE102016216369A1/en not_active Ceased
-
2017
- 2017-08-24 US US16/328,599 patent/US20200385233A1/en not_active Abandoned
- 2017-08-24 EP EP17755526.5A patent/EP3507226A1/en not_active Withdrawn
- 2017-08-24 WO PCT/EP2017/071339 patent/WO2018041713A1/en unknown
- 2017-08-24 CN CN201780049517.1A patent/CN109562909B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6677724B1 (en) * | 1999-09-17 | 2004-01-13 | Kabushiki Kaisha Yaskawa Denki | Initial magnetic pole estimating device for AC synchronous motor |
| CN1714493A (en) * | 2002-11-18 | 2005-12-28 | 精工爱普生株式会社 | Magnetic structure and motor employing said magnetic structure, and driver comprising said motor |
| US8869945B2 (en) * | 2006-08-14 | 2014-10-28 | Kone Corporation | Supplemental elevator safety system |
| CN104363979A (en) * | 2013-11-14 | 2015-02-18 | 株式会社Tbk | Electromagnetic brake |
| DE102014017486A1 (en) * | 2014-11-27 | 2016-06-02 | Thyssenkrupp Ag | Elevator installation with a plurality of cars and a decentralized security system |
| WO2016126805A1 (en) * | 2015-02-04 | 2016-08-11 | Otis Elevator Company | Position determining for ropeless elevator system |
| CN105691233A (en) * | 2016-01-14 | 2016-06-22 | 曲阜师范大学 | Electromagnetic train |
Non-Patent Citations (1)
| Title |
|---|
| 邹积浩: "永磁直线同步电机控制策略的研究", 《中国博士学位论文全文数据库工程科技Ⅱ辑》 * |
Also Published As
| Publication number | Publication date |
|---|---|
| DE102016216369A1 (en) | 2018-03-01 |
| EP3507226A1 (en) | 2019-07-10 |
| CN109562909B (en) | 2022-03-01 |
| US20200385233A1 (en) | 2020-12-10 |
| WO2018041713A1 (en) | 2018-03-08 |
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